744 lines
24 KiB
Go
744 lines
24 KiB
Go
package extract
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import (
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"encoding/binary"
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"fmt"
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"os"
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"time"
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"github.com/k0kubun/pp/v3"
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"github.com/xuri/excelize/v2"
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log "github.com/sirupsen/logrus"
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"starwiz.cn/sjy01/preprocessing/calculator"
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)
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const AuxPlatformFrmSize = 512 // 512 bytes
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// 中心机辅助数据 512 字节 (每 16 行原始图像数据为一组)
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type AuxPlatform struct {
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// 结构中标注的字节序号从 1 开始计数
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UTCTimeSec uint32 // [1-4] 卫星 UTC 时间戳（秒）
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Waveway uint8 // [5] 波道 0x00：波道1（241.0~311.0）0x01：波道2（241.1~311.1）
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Microsecond uint32 // [6-8]卫星秒小数（微秒）
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QuatAttstarQ0 float64 // [9-12]定姿四元数(J2000) 的 Q0 值，量纲 1/0x40000000
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QuatAttstarQ1 float64 // [13-16]Q1 值
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QuatAttstarQ2 float64 // [17-20]Q2 值
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QuatAttstarQ3 float64 // [21-24]Q3 值
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QuatOrbitQ1 float64 // [25-28]本体相对轨道四元数矢部 的 Q1 值，量纲 1/0x40000000
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QuatOrbitQ2 float64 // [29-32]Q2 值
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QuatOrbitQ3 float64 // [33-36]Q3 值Q3 值
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QuatOrbJQ1 float64 // [37-40]轨道相对惯性系四元数矢部 的 Q1 值，量纲 1/0x40000000
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QuatOrbJQ2 float64 // [41-44]Q2 值
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QuatOrbJQ3 float64 // [45-48]Q3 值
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Eular1 float64 // [49-52]本体相对轨道姿态角，[Z]Yaw 测摆角，量纲：1/1000000 单位：rad
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Eular2 float64 // [53-56] Pitch [Y]
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Eular3 float64 // [57-60] Roll [X]
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DotEular1 float64 // [61-62]本体相对轨道角速度，量纲：1/100000 单位：rad
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DotEular2 float64 // [63-64]
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DotEular3 float64 // [65-66]
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ModTime uint32 // [67-70]模式运行时间 秒
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DTime float64 // [71-72]姿控调用周期，量纲：1/1000 单位：秒
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AutoState [3]uint8 // [73-75]姿轨控部件使用标志
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ProTrack [16]uint8 // [76-91]姿轨控算法执行标记
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QeQ1 float64 // [92-95]偏差四元数 double 量纲：1/0x40000000 /bit
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QeQ2 float64 // [96-99]
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QeQ3 float64 // [100-103]
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We1 float64 // [104-105]偏差角速度 量纲：1/0x100000 单位：rad
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We2 float64 // [106-107]
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We3 float64 // [108-109]
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WTFX float64 // [110-111]X飞轮估计摩擦力矩 量纲：1/0x400000
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WTFY float64 // [112-113]
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WTFZ float64 // [114-115]
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FbdriftX float64 // [116-117]三轴陀螺X轴角速度漂移估计 1/0x4000000 rad/s
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FbdriftY float64 // [118-119]
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FbdriftZ float64 // [120-121]
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KalbX float64 // [122-123]三轴角速度卡尔曼漂移X 量纲：1/0x4000000 单位：rad/s
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KalbY float64 // [124-125]
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KalbZ float64 // [126-127]
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HTDX float64 // [128-129]X轴估计环境干扰力矩 量纲：1/0x200000
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HTDY float64 // [130-131]
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HTDZ float64 // [132-133]
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CommandWheelX float64 // [134-135]X轴计算飞轮控制力矩 量纲：1/0x40000
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CommandWheelY float64 // [136-137]
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CommandWheelZ float64 // [138-139]
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QuatG1 float64 // [140-143]期望四元数矢部1 量纲：1/0x40000000 /bit
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QuatG2 float64 // [144-147]
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QuatG3 float64 // [148-151]
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WG1 float64 // [152-153]期望角速度1 量纲：1/0x40000
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WG2 float64 // [154-155]
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WG3 float64 // [156-157]
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J2000PosX float64 // [158-161]计算当前J2000位置X 1/0x100 单位：m
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J2000PosY float64 // [162-165]
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J2000PosZ float64 // [166-169]
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J2000VelX float64 // [170-173]计算当前J2000速度X 量纲：1/0x100 单位：m/s
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J2000VelY float64 // [174-177]
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J2000VelZ float64 // [178-181]
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W84PosX float64 // [182-185]计算当前WGS 84位置X 1/0x100 单位：m
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W84PosY float64 // [186-189]
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W84PosZ float64 // [190-193]
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W84VelX float64 // [194-197]计算当前WGS 84速度X 量纲：1/0x100 单位：m/s
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W84VelY float64 // [198-201]
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W84VelZ float64 // [202-205]
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AngleDraft float64 // [206-209]偏流角 量纲：1/10000000 单位：rad
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DataTransLong float64 // [210-211]数传点经度 量纲：1/1000
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DataTransLat float64 // [212-213]数传点纬度 量纲：1/1000
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DataTransH float64 // [214-215]数传点地程高 量纲：1
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StarPrio [3]byte // [216-218] 星敏1定姿方式标志1 0x00：星敏1定姿；0xA0:星敏1滤波;0x01星敏2定姿；0xA1:星敏2滤波;0xff:未使用星敏定姿
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WheelspeedcalX float64 // [219-222]X飞轮期望转速 量纲：1/10000 单位：rpm
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WheelspeedcalY float64 // [223-226]
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WheelspeedcalZ float64 // [227-230]
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Reserved0 [2]byte // 预留字节
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Reserved1 [4]byte // 预留字节
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Reserved2 [2]byte // 预留字节
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Reserved3 [2]byte // 预留字节
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// 241.0 - 311.0 波道1参数
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// 241.1 - 311.1 波道2参数
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WGS84PosX float64 // [312-315]计算当前WGS 84位置X 单位：0.01米
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WGS84PosY float64 // [316-319]
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WGS84PosZ float64 // [320-323]
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WGS84VelX float64 // [324-327]计算当前WGS 84速度X 单位：0.01米/秒
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WGS84VelY float64 // [328-331]
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WGS84VelZ float64 // [332-335]
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J2000Pos_X float64 // [336-339]计算当前J2000位置X 单位：0.01米
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J2000Pos_Y float64 // [340-343]
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J2000Pos_Z float64 // [344-347]
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J2000Vel_X float64 // [348-351]计算当前J2000速度X 单位：0.01米/秒
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J2000Vel_Y float64 // [352-355]
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J2000Vel_Z float64 // [356-359]
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FOGyroXAV float64 // [360-362]三轴光纤陀螺X轴角速度 陀螺速度共3字节单位°/s量纲：1/72359
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FOGyroYAV float64 // [363-365]
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FOGyroZAV float64 // [366-368]
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FOGyroXAV1 float64 // [369-371]
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FOGyroYAV1 float64 // [372-374]
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FOGyroZAV1 float64 // [375-377]
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SS1_UTCTime uint32 // [378-381] 星敏1 UTC时间
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SS1_UTCTimeFrac float32 // [382-384] 星敏1 UTC秒小数 单位为40.96 us，高字节在前
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SS1_Q1 float64 // [385-388] 星敏1四元数q1 当量：1/2147483647 （星敏坐标系相对于J2000惯性坐标系）
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SS1_Q2 float64 // [389-392] 星敏1四元数q2
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SS1_Q3 float64 // [393-396] 星敏1四元数q3
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SS1_Q4 float64 // [397-400] 星敏1四元数q4
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SS1_ExposureTime uint8 // [401] 星敏1曝光时间 无符号数，单位ms
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SS1_Threshold uint8 // [402] 星敏1阈值 无符号数
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SS1_BackgroudV uint8 // [403] 星敏1背景值 无符号数
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SS1_Flags byte // [404] 星敏1标志位 0x01：曝光时间有效；0x02：阈值有效；0x04：背景值有效
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SS1_WorkMode uint8 // [405.(7~6)] 星敏1工作模式: 0正常工作模式；1保留；2固定阈值模式；3测试模式（保留）
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SS1_ExtractStars uint8 // [405.(5~0)]
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SS1_NavStars uint8 // [406.(7~5)] 星敏1导航星数
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SS1_Gain uint8 // [406.(4~0)] 星敏1增益
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SS1_RegonizedStars uint8 // [407.(7~2)] 星敏1识别星数
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SS1_ExtenalImage bool // [407.(1)] 星敏1外部图像标志位 0x01：外部图像；0x00：关闭
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SS1_AttitudeActive bool // [407.(0)] 星敏1姿态有效标志位 0x01：激活；0x00：关闭
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SS1_ImgFrmNo uint32 // [411-413] 星敏1图像帧号
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SS1_XAV float64 // [417-418] 星敏1X方向角速度 单位：2e-11 °/s
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SS1_YAV float64 // [419-420]
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SS1_ZAV float64 // [421-422]
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SS2_UTCTime uint32 // [424-427] 星敏2 UTC时间
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SS2_UTCTimeFrac float32 // [428-430] 星敏2 UTC秒小数 单位为40.96 us，高字节在前
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SS2_Q1 float64 // [431-434] 星敏2四元数q1 当量：1/2147483647 （星敏坐标系相对于J2000惯性坐标系）
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SS2_Q2 float64 // [435-438] 星敏2四元数q2
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SS2_Q3 float64 // [439-442] 星敏2四元数q3
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SS2_Q4 float64 // [443-446] 星敏2四元数q4
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SS2_ExposureTime uint8 // [447] 星敏2曝光时间 无符号数，单位ms
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SS2_Threshold uint8 // [448] 星敏2阈值 无符号数
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SS2_BackgroudV uint8 // [449] 星敏2背景值 无符号数
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SS2_Flags byte // [450] 星敏2标志位 0x01：曝光时间有效；0x02：阈值有效；0x04：背景值有效
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SS2_WorkMode uint8 // [451.(7~6)] 星敏2工作模式: 0正常工作模式；1保留；2固定阈值模式；3测试模式（保留）
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SS2_ExtractStars uint8 // [451.(5~0)]
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SS2_NavStars uint8 // [452.(7~5)] 星敏2导航星数
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SS2_Gain uint8 // [452.(4~0)] 星敏2增益
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SS2_RegonizedStars uint8 // [453.(7~2)] 星敏2识别星数
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SS2_ExtenalImage bool // [453.(1)] 星敏2外部图像标志位 0x01：外部图像；0x00：关闭
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SS2_AttitudeActive bool // [453.(0)] 星敏2姿态有效标志位 0x01：激活；0x00：关闭
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SS2_ImgFrmNo uint32 // [457-459] 星敏2图像帧号
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FlyWheel1_Vel float64 // [464-466] 飞轮1速度 单位：0.1rpm
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FlyWheel1_Amps float64 // [467] 飞轮1电流 单位：0.009A
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FlyWheel2_Vel float64 // [468-470] 飞轮2速度 单位：0.1rpm
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FlyWheel2_Amps float64 // [471] 飞轮2电流 单位：0.009A
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FlyWheel3_Vel float64 // [472-474] 飞轮3速度 单位：0.1rpm
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FlyWheel3_Amps float64 // [475] 飞轮3电流 单位：0.009A
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FlyWheel4_Vel float64 // [476-478] 飞轮4速度 单位：0.1rpm
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FlyWheel4_Amps float64 // [479] 飞轮4电流 单位：0.009A
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MemsGyroXAV float64 // [480-483] MEMS陀螺X轴角速度 0.000001°/s
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MemsGyroYAV float64 // [484-487] MEMS陀螺Y轴角速度 0.000001°/s
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MemsGyroZAV float64 // [488-491] MEMS陀螺Z轴角速度 0.000001°/s
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MagnetictrengthX float64 // [492-495] 磁场强度X 量纲19200,单位uT
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MagnetictrengthY float64 // [496-499] 磁场强度Y 量纲19200,单位uT
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MagnetictrengthZ float64 // [500-503] 磁场强度Z 量纲19200,单位uT
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ASSTimeInt uint32 // [504-507] 输入姿轨控数据UTC时间秒
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ASSTimeDec uint32 // [508-510] 输入姿轨控数据UTC时间秒小数 单位为μs
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Reserved4 byte // [511] 保留字节
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CheckSum byte // [512] 校验和
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}
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func (ap *AuxPlatform) Decode(data []byte) error {
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if len(data) < 512 {
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return ErrAuxPlatformDataLen
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}
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// 按需解析数据
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ap.UTCTimeSec = binary.BigEndian.Uint32(data[0:4])
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ap.Waveway = data[4]
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ap.Microsecond = uint32(data[5])<<16 | uint32(data[6])<<8 | uint32(data[7])
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ap.QuatAttstarQ0 = float64(bigEndianToInt32(data[8:12])) / 0x40000000
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ap.QuatAttstarQ1 = float64(bigEndianToInt32(data[12:16])) / 0x40000000
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ap.QuatAttstarQ2 = float64(bigEndianToInt32(data[16:20])) / 0x40000000
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ap.QuatAttstarQ3 = float64(bigEndianToInt32(data[20:24])) / 0x40000000
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ap.QuatOrbitQ1 = float64(bigEndianToInt32(data[24:28])) / 0x40000000
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ap.QuatOrbitQ2 = float64(bigEndianToInt32(data[28:32])) / 0x40000000
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ap.QuatOrbitQ3 = float64(bigEndianToInt32(data[32:36])) / 0x40000000
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ap.QuatOrbJQ1 = float64(bigEndianToInt32(data[36:40])) / 0x40000000
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ap.QuatOrbJQ2 = float64(bigEndianToInt32(data[40:44])) / 0x40000000
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ap.QuatOrbJQ3 = float64(bigEndianToInt32(data[44:48])) / 0x40000000
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ap.Eular1 = float64(bigEndianToInt32(data[48:52])) / 1000000
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ap.Eular2 = float64(bigEndianToInt32(data[52:56])) / 1000000
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ap.Eular3 = float64(bigEndianToInt32(data[56:60])) / 1000000
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ap.DotEular1 = float64(bigEndianToInt16(data[60:62])) / 100000
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ap.DotEular2 = float64(bigEndianToInt16(data[62:64])) / 100000
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ap.DotEular3 = float64(bigEndianToInt16(data[64:66])) / 100000
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ap.ModTime = binary.BigEndian.Uint32(data[66:70])
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ap.DTime = float64(bigEndianToInt16(data[70:72])) / 1000
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ap.AutoState[0] = uint8(data[72])
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ap.AutoState[1] = uint8(data[73])
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ap.AutoState[2] = uint8(data[74])
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for i := 0; i < 16; i++ {
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ap.ProTrack[i] = uint8(data[75+i])
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}
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ap.QeQ1 = float64(bigEndianToInt32(data[91:95])) / 0x40000000
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ap.QeQ2 = float64(bigEndianToInt32(data[95:99])) / 0x40000000
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ap.QeQ3 = float64(bigEndianToInt32(data[99:103])) / 0x40000000
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ap.We1 = float64(bigEndianToInt16(data[103:105])) / 0x100000
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ap.We2 = float64(bigEndianToInt16(data[105:107])) / 0x100000
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ap.We3 = float64(bigEndianToInt16(data[107:109])) / 0x100000
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ap.WTFX = float64(bigEndianToInt16(data[109:111])) / 0x400000
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ap.WTFY = float64(bigEndianToInt16(data[111:113])) / 0x400000
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ap.WTFZ = float64(bigEndianToInt16(data[113:115])) / 0x400000
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ap.FbdriftX = float64(bigEndianToInt16(data[115:117])) / 0x4000000
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ap.FbdriftY = float64(bigEndianToInt16(data[117:119])) / 0x4000000
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ap.FbdriftZ = float64(bigEndianToInt16(data[119:121])) / 0x4000000
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ap.KalbY = float64(bigEndianToInt16(data[121:123])) / 0x4000000
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ap.KalbZ = float64(bigEndianToInt16(data[123:125])) / 0x4000000
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ap.KalbX = float64(bigEndianToInt16(data[125:127])) / 0x4000000
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ap.HTDX = float64(bigEndianToInt16(data[127:129])) / 0x200000
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ap.HTDY = float64(bigEndianToInt16(data[129:131])) / 0x200000
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ap.HTDZ = float64(bigEndianToInt16(data[131:133])) / 0x200000
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ap.CommandWheelX = float64(bigEndianToInt16(data[133:135])) / 0x40000
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ap.CommandWheelY = float64(bigEndianToInt16(data[135:137])) / 0x40000
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ap.CommandWheelZ = float64(bigEndianToInt16(data[137:139])) / 0x40000
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ap.QuatG1 = float64(bigEndianToInt32(data[139:143])) / 0x40000000
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ap.QuatG2 = float64(bigEndianToInt32(data[143:147])) / 0x40000000
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ap.QuatG3 = float64(bigEndianToInt32(data[147:151])) / 0x40000000
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ap.WG1 = float64(bigEndianToInt16(data[151:153])) / 0x40000
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ap.WG2 = float64(bigEndianToInt16(data[153:155])) / 0x40000
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ap.WG3 = float64(bigEndianToInt16(data[155:157])) / 0x40000
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ap.J2000PosX = float64(bigEndianToInt32(data[157:161])) / 0x100
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ap.J2000PosY = float64(bigEndianToInt32(data[161:165])) / 0x100
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ap.J2000PosZ = float64(bigEndianToInt32(data[165:169])) / 0x100
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ap.J2000VelX = float64(bigEndianToInt32(data[169:173])) / 0x100
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ap.J2000VelY = float64(bigEndianToInt32(data[173:177])) / 0x100
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ap.J2000VelZ = float64(bigEndianToInt32(data[177:181])) / 0x100
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ap.W84PosX = float64(bigEndianToInt32(data[181:185])) / 0x100
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ap.W84PosY = float64(bigEndianToInt32(data[185:189])) / 0x100
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ap.W84PosZ = float64(bigEndianToInt32(data[189:193])) / 0x100
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ap.W84VelX = float64(bigEndianToInt32(data[193:197])) / 0x100
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ap.W84VelY = float64(bigEndianToInt32(data[197:201])) / 0x100
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ap.W84VelZ = float64(bigEndianToInt32(data[201:205])) / 0x100
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ap.AngleDraft = float64(bigEndianToInt32(data[205:209])) / 10000000
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ap.DataTransLong = float64(bigEndianToInt16(data[209:211])) / 1000
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ap.DataTransLat = float64(bigEndianToInt16(data[211:213])) / 1000
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ap.DataTransH = float64(bigEndianToInt16(data[213:215]))
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copy(ap.StarPrio[:], data[215:218])
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ap.WheelspeedcalX = float64(bigEndianToInt32(data[218:222])) / 10000
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ap.WheelspeedcalY = float64(bigEndianToInt32(data[222:226])) / 10000
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ap.WheelspeedcalZ = float64(bigEndianToInt32(data[226:230])) / 10000
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if ap.Waveway == 0x0 {
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// 241.0 - 311.0 波道1参数
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} else {
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||
// 241.1 - 311.1 波道2参数
|
||
}
|
||
ap.WGS84PosX = float64(bigEndianToInt32(data[311:315])) / 100
|
||
ap.WGS84PosY = float64(bigEndianToInt32(data[315:319])) / 100
|
||
ap.WGS84PosZ = float64(bigEndianToInt32(data[319:323])) / 100
|
||
ap.WGS84VelX = float64(bigEndianToInt32(data[323:327])) / 100
|
||
ap.WGS84VelY = float64(bigEndianToInt32(data[327:331])) / 100
|
||
ap.WGS84VelZ = float64(bigEndianToInt32(data[331:335])) / 100
|
||
ap.J2000Pos_X = float64(bigEndianToInt32(data[335:339])) / 100
|
||
ap.J2000Pos_Y = float64(bigEndianToInt32(data[339:343])) / 100
|
||
ap.J2000Pos_Z = float64(bigEndianToInt32(data[343:347])) / 100
|
||
ap.J2000Vel_X = float64(bigEndianToInt32(data[347:351])) / 100
|
||
ap.J2000Vel_Y = float64(bigEndianToInt32(data[351:355])) / 100
|
||
ap.J2000Vel_Z = float64(bigEndianToInt32(data[355:359])) / 100
|
||
ap.FOGyroXAV = float64(bigEndianToInt24(data[359:362])) / 72359
|
||
ap.FOGyroYAV = float64(bigEndianToInt24(data[362:365])) / 72359
|
||
ap.FOGyroZAV = float64(bigEndianToInt24(data[365:368])) / 72359
|
||
ap.FOGyroXAV1 = float64(bigEndianToInt24(data[368:371])) / 72359
|
||
ap.FOGyroYAV1 = float64(bigEndianToInt24(data[371:374])) / 72359
|
||
ap.FOGyroZAV1 = float64(bigEndianToInt24(data[374:377])) / 72359
|
||
ap.SS1_UTCTime = binary.BigEndian.Uint32(data[377:381])
|
||
ap.SS1_UTCTimeFrac = float32(uint32(data[381])<<16|uint32(data[382])<<8|uint32(data[383])) * 40.96
|
||
ap.SS1_Q1 = float64(bigEndianToInt32(data[384:388])) / 2147483647
|
||
ap.SS1_Q2 = float64(bigEndianToInt32(data[388:392])) / 2147483647
|
||
ap.SS1_Q3 = float64(bigEndianToInt32(data[392:396])) / 2147483647
|
||
ap.SS1_Q4 = float64(bigEndianToInt32(data[396:400])) / 2147483647
|
||
ap.SS1_ExposureTime = uint8(data[400])
|
||
ap.SS1_Threshold = uint8(data[401])
|
||
ap.SS1_BackgroudV = uint8(data[402])
|
||
ap.SS1_Flags = data[403]
|
||
ap.SS1_WorkMode = uint8(data[404] >> 6)
|
||
ap.SS1_ExtractStars = uint8(data[404] & 0x3F)
|
||
ap.SS1_NavStars = uint8(data[405] >> 5)
|
||
ap.SS1_Gain = uint8(data[405] & 0x1F)
|
||
ap.SS1_RegonizedStars = uint8(data[406] >> 2)
|
||
ap.SS1_ExtenalImage = data[406]&0x02 == 0x02
|
||
ap.SS1_AttitudeActive = data[406]&0x01 == 0x01
|
||
ap.SS1_ImgFrmNo = uint32(data[410])<<16 | uint32(data[411])<<8 | uint32(data[412])
|
||
ap.SS1_XAV = float64(bigEndianToInt16(data[416:418])) * 2e-11
|
||
ap.SS1_YAV = float64(bigEndianToInt16(data[418:420])) * 2e-11
|
||
ap.SS1_ZAV = float64(bigEndianToInt16(data[420:422])) * 2e-11
|
||
ap.SS2_UTCTime = binary.BigEndian.Uint32(data[423:427])
|
||
ap.SS2_UTCTimeFrac = float32(uint32(data[427])<<16|uint32(data[428])<<8|uint32(data[429])) * 40.96
|
||
ap.SS2_Q1 = float64(bigEndianToInt32(data[430:434])) / 2147483647
|
||
ap.SS2_Q2 = float64(bigEndianToInt32(data[434:438])) / 2147483647
|
||
ap.SS2_Q3 = float64(bigEndianToInt32(data[438:442])) / 2147483647
|
||
ap.SS2_Q4 = float64(bigEndianToInt32(data[442:446])) / 2147483647
|
||
ap.SS2_ExposureTime = uint8(data[446])
|
||
ap.SS2_Threshold = uint8(data[447])
|
||
ap.SS2_BackgroudV = uint8(data[448])
|
||
ap.SS2_Flags = data[449]
|
||
ap.SS2_WorkMode = uint8(data[450] >> 6)
|
||
ap.SS2_ExtractStars = uint8(data[450] & 0x3F)
|
||
ap.SS2_NavStars = uint8(data[451] >> 5)
|
||
ap.SS2_Gain = uint8(data[451] & 0x1F)
|
||
ap.SS2_RegonizedStars = uint8(data[452] >> 2)
|
||
ap.SS2_ExtenalImage = data[452]&0x02 == 0x02
|
||
ap.SS2_AttitudeActive = data[452]&0x01 == 0x01
|
||
ap.SS2_ImgFrmNo = uint32(data[456])<<16 | uint32(data[457])<<8 | uint32(data[458])
|
||
ap.FlyWheel1_Vel = float64(bigEndianToInt16(data[463:466])) * 0.1
|
||
ap.FlyWheel1_Amps = float64(uint8(data[466])) * 0.009
|
||
ap.FlyWheel2_Vel = float64(bigEndianToInt16(data[467:470])) * 0.1
|
||
ap.FlyWheel2_Amps = float64(uint8(data[470])) * 0.009
|
||
ap.FlyWheel3_Vel = float64(bigEndianToInt16(data[471:474])) * 0.1
|
||
ap.FlyWheel3_Amps = float64(uint8(data[474])) * 0.009
|
||
ap.FlyWheel4_Vel = float64(bigEndianToInt16(data[475:478])) * 0.1
|
||
ap.FlyWheel4_Amps = float64(uint8(data[478])) * 0.009
|
||
ap.MemsGyroXAV = float64(bigEndianToInt32(data[479:483])) * 0.000001
|
||
ap.MemsGyroYAV = float64(bigEndianToInt32(data[483:487])) * 0.000001
|
||
ap.MemsGyroZAV = float64(bigEndianToInt32(data[487:491])) * 0.000001
|
||
ap.MagnetictrengthX = float64(bigEndianToInt32(data[491:495])) / 19200
|
||
ap.MagnetictrengthY = float64(bigEndianToInt32(data[495:499])) / 19200
|
||
ap.MagnetictrengthZ = float64(bigEndianToInt32(data[499:503])) / 19200
|
||
ap.ASSTimeInt = binary.BigEndian.Uint32(data[503:507])
|
||
ap.ASSTimeDec = uint32(data[507])<<16 | uint32(data[508])<<8 | uint32(data[509])
|
||
ap.CheckSum = data[511]
|
||
|
||
return nil
|
||
}
|
||
|
||
func (ap AuxPlatform) Print() {
|
||
pp.Println(ap)
|
||
}
|
||
|
||
func (ap AuxPlatform) SaveXlsx(f *excelize.File, col, row int) (int, error) {
|
||
var values = []interface{}{
|
||
ap.UTCTimeSec,
|
||
ap.Waveway,
|
||
ap.Microsecond,
|
||
ap.QuatAttstarQ0,
|
||
ap.QuatAttstarQ1,
|
||
ap.QuatAttstarQ2,
|
||
ap.QuatAttstarQ3,
|
||
ap.QuatOrbitQ1,
|
||
ap.QuatOrbitQ2,
|
||
ap.QuatOrbitQ3,
|
||
ap.QuatOrbJQ1,
|
||
ap.QuatOrbJQ2,
|
||
ap.QuatOrbJQ3,
|
||
ap.Eular1,
|
||
ap.Eular2,
|
||
ap.Eular3,
|
||
ap.DotEular1,
|
||
ap.DotEular2,
|
||
ap.DotEular3,
|
||
ap.ModTime,
|
||
ap.DTime,
|
||
ap.AutoState,
|
||
ap.ProTrack,
|
||
ap.QeQ1,
|
||
ap.QeQ2,
|
||
ap.QeQ3,
|
||
ap.We1,
|
||
ap.We2,
|
||
ap.We3,
|
||
ap.WTFX,
|
||
ap.WTFY,
|
||
ap.WTFZ,
|
||
ap.FbdriftX,
|
||
ap.FbdriftY,
|
||
ap.FbdriftZ,
|
||
ap.KalbX,
|
||
ap.KalbY,
|
||
ap.KalbZ,
|
||
ap.HTDX,
|
||
ap.HTDY,
|
||
ap.HTDZ,
|
||
ap.CommandWheelX,
|
||
ap.CommandWheelY,
|
||
ap.CommandWheelZ,
|
||
ap.QuatG1,
|
||
ap.QuatG2,
|
||
ap.QuatG3,
|
||
ap.WG1,
|
||
ap.WG2,
|
||
ap.WG3,
|
||
ap.J2000PosX,
|
||
ap.J2000PosY,
|
||
ap.J2000PosZ,
|
||
ap.J2000VelX,
|
||
ap.J2000VelY,
|
||
ap.J2000VelZ,
|
||
ap.W84PosX,
|
||
ap.W84PosY,
|
||
ap.W84PosZ,
|
||
ap.W84VelX,
|
||
ap.W84VelY,
|
||
ap.W84VelZ,
|
||
ap.AngleDraft,
|
||
ap.DataTransLong,
|
||
ap.DataTransLat,
|
||
ap.DataTransH,
|
||
ap.StarPrio[0],
|
||
ap.StarPrio[1],
|
||
ap.StarPrio[2],
|
||
ap.WheelspeedcalX,
|
||
ap.WheelspeedcalY,
|
||
ap.WheelspeedcalZ,
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
ap.WGS84PosX,
|
||
ap.WGS84PosY,
|
||
ap.WGS84PosZ,
|
||
ap.WGS84VelX,
|
||
ap.WGS84VelY,
|
||
ap.WGS84VelZ,
|
||
ap.J2000Pos_X,
|
||
ap.J2000Pos_Y,
|
||
ap.J2000Pos_Z,
|
||
ap.J2000Vel_X,
|
||
ap.J2000Vel_Y,
|
||
ap.J2000Vel_Z,
|
||
ap.FOGyroXAV,
|
||
ap.FOGyroYAV,
|
||
ap.FOGyroZAV,
|
||
ap.FOGyroXAV1,
|
||
ap.FOGyroYAV1,
|
||
ap.FOGyroZAV1,
|
||
ap.SS1_UTCTime,
|
||
ap.SS1_UTCTimeFrac,
|
||
ap.SS1_Q1,
|
||
ap.SS1_Q2,
|
||
ap.SS1_Q3,
|
||
ap.SS1_Q4,
|
||
ap.SS1_ExposureTime,
|
||
ap.SS1_Threshold,
|
||
ap.SS1_BackgroudV,
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
ap.SS1_WorkMode,
|
||
ap.SS1_ExtractStars,
|
||
ap.SS1_NavStars,
|
||
ap.SS1_Gain,
|
||
ap.SS1_RegonizedStars,
|
||
ap.SS1_ExtenalImage,
|
||
ap.SS1_AttitudeActive,
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
ap.SS1_ImgFrmNo,
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
ap.SS1_XAV,
|
||
ap.SS1_YAV,
|
||
ap.SS1_ZAV,
|
||
"",
|
||
"",
|
||
"",
|
||
ap.SS2_UTCTime,
|
||
ap.SS2_UTCTimeFrac,
|
||
ap.SS2_Q1,
|
||
ap.SS2_Q2,
|
||
ap.SS2_Q3,
|
||
ap.SS2_Q4,
|
||
ap.SS2_ExposureTime,
|
||
ap.SS2_Threshold,
|
||
ap.SS2_BackgroudV,
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
ap.SS2_WorkMode,
|
||
ap.SS2_ExtractStars,
|
||
ap.SS2_NavStars,
|
||
ap.SS2_Gain,
|
||
ap.SS2_RegonizedStars,
|
||
ap.SS2_ExtenalImage,
|
||
ap.SS2_AttitudeActive,
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
ap.SS2_ImgFrmNo,
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
"",
|
||
ap.FlyWheel1_Vel,
|
||
ap.FlyWheel1_Amps,
|
||
ap.FlyWheel2_Vel,
|
||
ap.FlyWheel2_Amps,
|
||
ap.FlyWheel3_Vel,
|
||
ap.FlyWheel3_Amps,
|
||
ap.FlyWheel4_Vel,
|
||
ap.FlyWheel4_Amps,
|
||
ap.MemsGyroXAV,
|
||
ap.MemsGyroYAV,
|
||
ap.MemsGyroZAV,
|
||
ap.MagnetictrengthX,
|
||
ap.MagnetictrengthY,
|
||
ap.MagnetictrengthZ,
|
||
ap.ASSTimeInt,
|
||
ap.ASSTimeDec,
|
||
"",
|
||
fmt.Sprintf("%08b", ap.CheckSum),
|
||
}
|
||
|
||
for i := 0; i < len(values); i++ {
|
||
cell, _ := excelize.CoordinatesToCellName(col, row)
|
||
f.SetCellValue("Sheet1", cell, values[i])
|
||
col++
|
||
}
|
||
|
||
return len(values), nil
|
||
}
|
||
|
||
// Extractor 辅助数据提取器
|
||
// auxfile 辅助数据文件路径
|
||
func (e *Extractor) ParseAuxPlatform(auxfile string) ([]*AuxPlatform, error) {
|
||
data, err := os.ReadFile(auxfile)
|
||
if err != nil {
|
||
log.Println("read aux data from", auxfile, "error:", err.Error())
|
||
return nil, err
|
||
}
|
||
|
||
var aps []*AuxPlatform
|
||
for i := 0; i < len(data); i += 24 + 128 + 512 {
|
||
ap := AuxPlatform{}
|
||
if err := ap.Decode(data[i+24+128 : i+24+128+512]); err != nil {
|
||
return nil, err
|
||
}
|
||
|
||
aps = append(aps, &ap)
|
||
// ap.Print()
|
||
// Calculate(
|
||
// Vector3{ap.J2000Pos_X, ap.J2000Pos_Y, ap.J2000Pos_Y},
|
||
// Vector3{ap.J2000Vel_X, ap.J2000Vel_Y, ap.J2000Vel_Z},
|
||
// Quaternion{ap.SS1_Q1, ap.SS1_Q2, ap.SS1_Q3, ap.SS1_Q4},
|
||
// )
|
||
|
||
pp.Println(calculator.WGS84XYZtoLatLngH(ap.W84PosX, ap.W84PosY, ap.W84PosZ))
|
||
pp.Println(calculator.WGS84XYZtoLatLngH(ap.WGS84PosX, ap.WGS84PosY, ap.WGS84PosZ))
|
||
|
||
pp.Println(calculator.J2000ToWGS84(
|
||
ap.J2000PosX,
|
||
ap.J2000PosY,
|
||
ap.J2000PosZ,
|
||
time.Unix(
|
||
int64(ap.UTCTimeSec+uint32(ReferenceTime2000)),
|
||
int64(ap.Microsecond)*1000).UTC()))
|
||
|
||
pp.Println(calculator.J2000ToWGS84(
|
||
ap.J2000Pos_X,
|
||
ap.J2000Pos_Y,
|
||
ap.J2000Pos_Z,
|
||
time.Unix(
|
||
int64(ap.UTCTimeSec+uint32(ReferenceTime2000)),
|
||
int64(ap.Microsecond)*1000).UTC()))
|
||
break
|
||
}
|
||
return aps, nil
|
||
}
|
||
|
||
func Time2000UTCSec() int64 {
|
||
t, _ := time.ParseInLocation("2006-01-02 15:04:05", "2000-01-01 12:00:00", time.UTC)
|
||
return t.Unix()
|
||
}
|